3000 Number of robots = 50


 2500-


 2000
 oo
 CO


 ^ 1500 -


 1000 -


 500
 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
 Velocity


Figure 3.7 Analysis of the spreading algorithm with variation in velocity

 An exponential decrease in the number of iterations (time) can be noted. Also,

independent of the number of robots, the amount of time it takes to spread is almost the

same.

3.2.3.4 Noise analysis

 In all the above results of the spreading algorithm, it has been assumed that there is

no noise present in the environment. This assumption is not true for any environment

encountered in reality. The spreading algorithm was hence simulated with the presence of

noise and the uniformity of the resulting distribution was calculated in the same way as in

section 3.2.3.2. The parameters used for this simulation are same as in table 3.1. For

every iteration, additive white noise of a particular power was added in the position

information of robots. The standard deviation of the estimated pdf for various noise